robotic manipulator possessing two degrees of freedom and surgical robot

摘要

The present invention relates to a two degree of freedom manipulator and a surgical robot that pivot a lower arm support (40) under the actuation of a second transmission frame (603, 111, 207, 208, 403) so as to that a telescopic movement will be achieved around a remote center of movement (rcm) (d); pivot an intermediate arm support (30) under the drive of a first drive frame (601, 110, 205, 206, 402) and pivot an instrument assembly in the same manner under the action of a first flexible member (401) of so that a pivoting turning motion will be achieved with respect to rcm (d). therefore, the manipulator with two degrees of freedom is achieved.